/*
 * Software License Agreement (BSD License)
 *
 * Copyright (c) 2011, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 *  * Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials provided
 *    with the distribution.
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 *    contributors may be used to endorse or promote prducts derived
 *    from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 */

#ifndef _ROS_PUBLISHER_H_
#define _ROS_PUBLISHER_H_

#include "rosserial_msgs/TopicInfo.h"
#include "ros/node_handle.h"

namespace ros
{

/* Generic Publisher */
class Publisher
{
public:
  Publisher(const char * topic_name, Msg * msg, int endpoint = rosserial_msgs::TopicInfo::ID_PUBLISHER) :
    topic_(topic_name),
    msg_(msg),
    endpoint_(endpoint) {};

  int publish(const Msg * msg)
  {
    return nh_->publish(id_, msg);
  };
  int getEndpointType()
  {
    return endpoint_;
  }

  const char * topic_;
  Msg *msg_;
  // id_ and no_ are set by NodeHandle when we advertise
  int id_;
  NodeHandleBase_* nh_;

private:
  int endpoint_;
};

}

#endif
